I've done this a handful of times. I've always had them print off the full size plans using blue print paper in black and white only. I edit the PDF to cut out the pages I don't want printed like the intro page and the keys. You may be able to do this edit on their site. You only want them to print the actual parts. Depending on how many pages it is, I've seen anywhere from $12-$25. You should probably go to their website and set this up before you go. You can upload the file on their website, select what store you want, what kind of paper, all that good stuff. I always add the comment in the comment section that I need this printed at 100% scale. It'll give you the price, you pay, and they print. Then you pick it up when your going through. If you don't do this beforehand on their website there is a good chance you will be waiting a long time to have them print it if you just show up with the file. Make sure you ask them for a ruler when you pick it up and measure the scale key found on top of the plans to ensure it is indeed printed at 100% scale.
Also, with their print prices going up in the last couple years, I personally don't go this route anymore unless I am using the print to make permanent templates. I take these prints, do a quick rough cut and then spray glue them to poster board with 3M Super 77 spray glue, then do a fine cut with scissors. And blam, you now how permanent plans to make as many planes as you want quickly. When using these permanent plans, I use a few small pieces of tape to tape the part to the foam board, trace the outer edge, and then use a thumb tac to mark any folds/bevels/CG marks/etc. Then connect the lines with a ruler once template is removed, then cut out and pencil on any markings needed to complete the assembly of that part. I've made permanent plans of the Arrow, Tutor, Flyer, and Tiny Trainer. My 11 year old son is still fairly new and its nice to have perm plans laying around.